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<div class="title">convolution_3d.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_FILTERS_CONVOLUTION_3D_H</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_FILTERS_CONVOLUTION_3D_H</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/boost.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/search/pcl_search.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keyword">namespace </span>filters</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  {</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt;</div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolving_kernel.html">   55</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1filters_1_1_convolving_kernel.html">ConvolvingKernel</a></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;ConvolvingKernel&lt;PointInT, PointOutT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const ConvolvingKernel&lt;PointInT, PointOutT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointInT&gt;::ConstPtr</a> PointCloudInConstPtr;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolving_kernel.html#a2ec940a77e2ad1a5b01c35efe9ae8b65">   64</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolving_kernel.html#a2ec940a77e2ad1a5b01c35efe9ae8b65">ConvolvingKernel</a> () {}</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolving_kernel.html#a389aa513bcc61bd67e027323f2c6b2d2">   67</a></span>&#160;        <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1filters_1_1_convolving_kernel.html#a389aa513bcc61bd67e027323f2c6b2d2">~ConvolvingKernel</a> () {}</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolving_kernel.html#acd1dc3374677d5fabd8526b2339b6789">   73</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolving_kernel.html#acd1dc3374677d5fabd8526b2339b6789">setInputCloud</a> (<span class="keyword">const</span> PointCloudInConstPtr&amp; input) { <a class="code" href="classpcl_1_1filters_1_1_convolving_kernel.html#a6acda103f7848d4598d91ecb3f07d223">input_</a> = input; }</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <span class="keyword">virtual</span> PointOutT</div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolving_kernel.html#a828fcf6fd3bea41999384e901a170846">   81</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolving_kernel.html#a828fcf6fd3bea41999384e901a170846">operator() </a>(<span class="keyword">const</span> std::vector&lt;int&gt;&amp; indices, <span class="keyword">const</span> std::vector&lt;float&gt;&amp; distances) = 0;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolving_kernel.html#afa5c5d68d246b9da0f3fda2a0286e98a">   94</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolving_kernel.html#afa5c5d68d246b9da0f3fda2a0286e98a">initCompute</a> () { <span class="keywordflow">return</span> <span class="keyword">false</span>; }</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolving_kernel.html#a516ff8cb112028510557398fb8152b2e">  100</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolving_kernel.html#a516ff8cb112028510557398fb8152b2e">makeInfinite</a> (PointOutT&amp; p)</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        {</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;          p.x = p.y = p.z = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        }</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolving_kernel.html#a6acda103f7848d4598d91ecb3f07d223">  107</a></span>&#160;        PointCloudInConstPtr <a class="code" href="classpcl_1_1filters_1_1_convolving_kernel.html#a6acda103f7848d4598d91ecb3f07d223">input_</a>;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    };</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt;</div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_gaussian_kernel.html">  115</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1filters_1_1_gaussian_kernel.html">GaussianKernel</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1filters_1_1_convolving_kernel.html">ConvolvingKernel</a> &lt;PointInT, PointOutT&gt;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    {</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1filters_1_1_convolving_kernel.html">ConvolvingKernel&lt;PointInT, PointOutT&gt;::initCompute</a>;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1filters_1_1_convolving_kernel.html">ConvolvingKernel&lt;PointInT, PointOutT&gt;::input_</a>;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1filters_1_1_convolving_kernel.html">ConvolvingKernel&lt;PointInT, PointOutT&gt;::operator </a>();</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1filters_1_1_convolving_kernel.html">ConvolvingKernel&lt;PointInT, PointOutT&gt;::makeInfinite</a>;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;GaussianKernel&lt;PointInT, PointOutT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;GaussianKernel&lt;PointInT, PointOutT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_gaussian_kernel.html#ad01e1dfc0d7003dbb7edb606212e9e4e">  126</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_gaussian_kernel.html#ad01e1dfc0d7003dbb7edb606212e9e4e">GaussianKernel</a> ()</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;          : <a class="code" href="classpcl_1_1filters_1_1_convolving_kernel.html">ConvolvingKernel</a> &lt;PointInT, PointOutT&gt; ()</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;          , sigma_ (0)</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;          , threshold_ (std::numeric_limits&lt;float&gt;::infinity ())</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        {}</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1filters_1_1_gaussian_kernel.html">GaussianKernel</a> () {}</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_gaussian_kernel.html#aacd36fb3e27286535f9940dd8a7ffc09">  138</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_gaussian_kernel.html#aacd36fb3e27286535f9940dd8a7ffc09">setSigma</a> (<span class="keywordtype">float</span> sigma) { sigma_ = sigma; }</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_gaussian_kernel.html#a4eb5a6aa4a7163ed5123aefa9c4dc70a">  144</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_gaussian_kernel.html#a4eb5a6aa4a7163ed5123aefa9c4dc70a">setThresholdRelativeToSigma</a> (<span class="keywordtype">float</span> sigma_coefficient)</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        {</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;          sigma_coefficient_.reset (sigma_coefficient);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        }</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_gaussian_kernel.html#af124f4e8a0374b54b2a102fbbda081ca">  151</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_gaussian_kernel.html#af124f4e8a0374b54b2a102fbbda081ca">setThreshold</a> (<span class="keywordtype">float</span> threshold) { threshold_ = threshold; }</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1filters_1_1_gaussian_kernel.html#abc1ef2229ba7f711cf62c82753bf22c1">initCompute</a> ();</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        <span class="keyword">virtual</span> PointOutT</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_gaussian_kernel.html#a2550b6e480710552d543d118ee19c0ff">operator() </a>(<span class="keyword">const</span> std::vector&lt;int&gt;&amp; indices, <span class="keyword">const</span> std::vector&lt;float&gt;&amp; distances);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        <span class="keywordtype">float</span> sigma_;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        <span class="keywordtype">float</span> sigma_sqr_;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        <span class="keywordtype">float</span> threshold_;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        boost::optional&lt;float&gt; sigma_coefficient_;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    };</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt;</div>
<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_gaussian_kernel_r_g_b.html">  171</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1filters_1_1_gaussian_kernel_r_g_b.html">GaussianKernelRGB</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1filters_1_1_gaussian_kernel.html">GaussianKernel</a> &lt;PointInT, PointOutT&gt;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    {</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1filters_1_1_gaussian_kernel.html">GaussianKernel&lt;PointInT, PointOutT&gt;::initCompute</a>;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1filters_1_1_gaussian_kernel.html">GaussianKernel&lt;PointInT, PointOutT&gt;::input_</a>;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1filters_1_1_gaussian_kernel.html">GaussianKernel&lt;PointInT, PointOutT&gt;::operator </a>();</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1filters_1_1_gaussian_kernel.html">GaussianKernel&lt;PointInT, PointOutT&gt;::makeInfinite</a>;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1filters_1_1_gaussian_kernel.html">GaussianKernel&lt;PointInT, PointOutT&gt;::sigma_sqr_</a>;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1filters_1_1_gaussian_kernel.html">GaussianKernel&lt;PointInT, PointOutT&gt;::threshold_</a>;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;GaussianKernelRGB&lt;PointInT, PointOutT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;GaussianKernelRGB&lt;PointInT, PointOutT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_gaussian_kernel_r_g_b.html#a61adc4ffc4cf5fd82cb7d170b4989a14">  184</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_gaussian_kernel_r_g_b.html#a61adc4ffc4cf5fd82cb7d170b4989a14">GaussianKernelRGB</a> ()</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;          : <a class="code" href="classpcl_1_1filters_1_1_gaussian_kernel.html">GaussianKernel</a> &lt;PointInT, PointOutT&gt; ()</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        {}</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        ~<a class="code" href="classpcl_1_1filters_1_1_gaussian_kernel_r_g_b.html">GaussianKernelRGB</a> () {}</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        PointOutT</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_gaussian_kernel_r_g_b.html#ab9fce61230a93073edc8b29320d33105">operator() </a>(<span class="keyword">const</span> std::vector&lt;int&gt;&amp; indices, <span class="keyword">const</span> std::vector&lt;float&gt;&amp; distances);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    };</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>In, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Out, <span class="keyword">typename</span> KernelT&gt;</div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution3_d.html">  200</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html">Convolution3D</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a> &lt;PointIn&gt;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    {</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointIn&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudIn::ConstPtr PointCloudInConstPtr;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1search_1_1_search.html">pcl::search::Search&lt;PointIn&gt;</a> <a class="code" href="classpcl_1_1search_1_1_search.html">KdTree</a>;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::search::Search&lt;PointIn&gt;::Ptr KdTreePtr;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOut&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;Convolution3D&lt;PointIn, PointOut, KernelT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;Convolution3D&lt;PointIn, PointOut, KernelT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt;PointIn&gt;::indices_</a>;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt;PointIn&gt;::input_</a>;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html#ac63c49229165630deed411a0786f7205">Convolution3D</a> ();</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution3_d.html#a143af43001dc678bf1e92f92cded96eb">  218</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html#a143af43001dc678bf1e92f92cded96eb">~Convolution3D</a> () {}</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00224"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution3_d.html#a5377eb01dc0d7c555f139750391545df">  224</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html#a5377eb01dc0d7c555f139750391545df">setNumberOfThreads</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nr_threads = 0) { <a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html#a7658f52448ccec5e2fda16ff40ba22f2">threads_</a> = nr_threads; }</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00230"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution3_d.html#a0c63a05ed46982210ef76914bcc5edb4">  230</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html#a0c63a05ed46982210ef76914bcc5edb4">setKernel</a> (<span class="keyword">const</span> KernelT&amp; <a class="code" href="classpcl_1_1kernel.html">kernel</a>) { <a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html#a3ae938f52a6c7584e37f492e0c7fddd1">kernel_</a> = <a class="code" href="classpcl_1_1kernel.html">kernel</a>; }</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00236"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution3_d.html#a580110ab4556c54c7c0fffad0b30a5ea">  236</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html#a580110ab4556c54c7c0fffad0b30a5ea">setSearchSurface</a> (<span class="keyword">const</span> PointCloudInConstPtr &amp;cloud) { <a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html#a723618e05e6153a1f15eada3b9cbf126">surface_</a> = cloud; }</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        <span class="keyword">inline</span> PointCloudInConstPtr</div>
<div class="line"><a name="l00240"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution3_d.html#acd2fdca5f5449054ce26ffa11826d1c3">  240</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html#acd2fdca5f5449054ce26ffa11826d1c3">getSearchSurface</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html#a723618e05e6153a1f15eada3b9cbf126">surface_</a>); }</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00246"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution3_d.html#a8ff2cecbfc5bbe40baef7aa383ae0f21">  246</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html#a8ff2cecbfc5bbe40baef7aa383ae0f21">setSearchMethod</a> (<span class="keyword">const</span> KdTreePtr &amp;tree) { <a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html#a6c2eb2eefd2350577105ea0b53e5f967">tree_</a> = tree; }</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;        <span class="keyword">inline</span> KdTreePtr</div>
<div class="line"><a name="l00250"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution3_d.html#a0a828c55de3f20469253e95daca8ecb8">  250</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html#a0a828c55de3f20469253e95daca8ecb8">getSearchMethod</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html#a6c2eb2eefd2350577105ea0b53e5f967">tree_</a>); }</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00256"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution3_d.html#a65dcbf9724dd7e8814e0b6c97c1e3fda">  256</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html#a65dcbf9724dd7e8814e0b6c97c1e3fda">setRadiusSearch</a> (<span class="keywordtype">double</span> radius) { <a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html#af6d4781ad87511407d6148345004196a">search_radius_</a> = radius; }</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00260"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution3_d.html#a4175c2a1d10da4dd3776dcb8af1f6ea7">  260</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html#a4175c2a1d10da4dd3776dcb8af1f6ea7">getRadiusSearch</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html#af6d4781ad87511407d6148345004196a">search_radius_</a>); }</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html#a97479a3e1822348fb361aa951491a6dd">convolve</a> (PointCloudOut&amp; output);</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html#a275e38b4ef8e4855419c8714920d90c1">initCompute</a> ();</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution3_d.html#a723618e05e6153a1f15eada3b9cbf126">  273</a></span>&#160;        PointCloudInConstPtr <a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html#a723618e05e6153a1f15eada3b9cbf126">surface_</a>;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00276"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution3_d.html#a6c2eb2eefd2350577105ea0b53e5f967">  276</a></span>&#160;        KdTreePtr <a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html#a6c2eb2eefd2350577105ea0b53e5f967">tree_</a>;</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00279"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution3_d.html#af6d4781ad87511407d6148345004196a">  279</a></span>&#160;        <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html#af6d4781ad87511407d6148345004196a">search_radius_</a>;</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00282"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution3_d.html#a7658f52448ccec5e2fda16ff40ba22f2">  282</a></span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html#a7658f52448ccec5e2fda16ff40ba22f2">threads_</a>;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00285"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution3_d.html#a3ae938f52a6c7584e37f492e0c7fddd1">  285</a></span>&#160;        KernelT <a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html#a3ae938f52a6c7584e37f492e0c7fddd1">kernel_</a>;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    };</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  }</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;}</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160; </div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/impl/convolution_3d.hpp&gt;</span></div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_FILTERS_CONVOLUTION_3D_H</span></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution3_d_html"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution3_d.html">pcl::filters::Convolution3D</a></div><div class="ttdef"><b>Definition:</b> convolution_3d.h:201</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution3_d_html_a0a828c55de3f20469253e95daca8ecb8"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution3_d.html#a0a828c55de3f20469253e95daca8ecb8">pcl::filters::Convolution3D::getSearchMethod</a></div><div class="ttdeci">KdTreePtr getSearchMethod()</div><div class="ttdoc">Get a pointer to the search method used.</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:250</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution3_d_html_a0c63a05ed46982210ef76914bcc5edb4"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution3_d.html#a0c63a05ed46982210ef76914bcc5edb4">pcl::filters::Convolution3D::setKernel</a></div><div class="ttdeci">void setKernel(const KernelT &amp;kernel)</div><div class="ttdoc">Set convolving kernel</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:230</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution3_d_html_a143af43001dc678bf1e92f92cded96eb"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution3_d.html#a143af43001dc678bf1e92f92cded96eb">pcl::filters::Convolution3D::~Convolution3D</a></div><div class="ttdeci">~Convolution3D()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:218</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution3_d_html_a275e38b4ef8e4855419c8714920d90c1"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution3_d.html#a275e38b4ef8e4855419c8714920d90c1">pcl::filters::Convolution3D::initCompute</a></div><div class="ttdeci">bool initCompute()</div><div class="ttdoc">initialize computation</div><div class="ttdef"><b>Definition:</b> convolution_3d.hpp:180</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution3_d_html_a3ae938f52a6c7584e37f492e0c7fddd1"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution3_d.html#a3ae938f52a6c7584e37f492e0c7fddd1">pcl::filters::Convolution3D::kernel_</a></div><div class="ttdeci">KernelT kernel_</div><div class="ttdoc">convlving kernel</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:285</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution3_d_html_a4175c2a1d10da4dd3776dcb8af1f6ea7"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution3_d.html#a4175c2a1d10da4dd3776dcb8af1f6ea7">pcl::filters::Convolution3D::getRadiusSearch</a></div><div class="ttdeci">double getRadiusSearch()</div><div class="ttdoc">Get the sphere radius used for determining the neighbors.</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:260</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution3_d_html_a5377eb01dc0d7c555f139750391545df"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution3_d.html#a5377eb01dc0d7c555f139750391545df">pcl::filters::Convolution3D::setNumberOfThreads</a></div><div class="ttdeci">void setNumberOfThreads(unsigned int nr_threads=0)</div><div class="ttdoc">Initialize the scheduler and set the number of threads to use.</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:224</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution3_d_html_a580110ab4556c54c7c0fffad0b30a5ea"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution3_d.html#a580110ab4556c54c7c0fffad0b30a5ea">pcl::filters::Convolution3D::setSearchSurface</a></div><div class="ttdeci">void setSearchSurface(const PointCloudInConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset that we need to estimate features at every point for.</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:236</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution3_d_html_a65dcbf9724dd7e8814e0b6c97c1e3fda"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution3_d.html#a65dcbf9724dd7e8814e0b6c97c1e3fda">pcl::filters::Convolution3D::setRadiusSearch</a></div><div class="ttdeci">void setRadiusSearch(double radius)</div><div class="ttdoc">Set the sphere radius that is to be used for determining the nearest neighbors</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:256</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution3_d_html_a6c2eb2eefd2350577105ea0b53e5f967"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution3_d.html#a6c2eb2eefd2350577105ea0b53e5f967">pcl::filters::Convolution3D::tree_</a></div><div class="ttdeci">KdTreePtr tree_</div><div class="ttdoc">A pointer to the spatial search object.</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:276</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution3_d_html_a723618e05e6153a1f15eada3b9cbf126"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution3_d.html#a723618e05e6153a1f15eada3b9cbf126">pcl::filters::Convolution3D::surface_</a></div><div class="ttdeci">PointCloudInConstPtr surface_</div><div class="ttdoc">An input point cloud describing the surface that is to be used for nearest neighbors estimation.</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:273</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution3_d_html_a7658f52448ccec5e2fda16ff40ba22f2"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution3_d.html#a7658f52448ccec5e2fda16ff40ba22f2">pcl::filters::Convolution3D::threads_</a></div><div class="ttdeci">unsigned int threads_</div><div class="ttdoc">number of threads</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:282</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution3_d_html_a8ff2cecbfc5bbe40baef7aa383ae0f21"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution3_d.html#a8ff2cecbfc5bbe40baef7aa383ae0f21">pcl::filters::Convolution3D::setSearchMethod</a></div><div class="ttdeci">void setSearchMethod(const KdTreePtr &amp;tree)</div><div class="ttdoc">Provide a pointer to the search object.</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:246</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution3_d_html_a97479a3e1822348fb361aa951491a6dd"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution3_d.html#a97479a3e1822348fb361aa951491a6dd">pcl::filters::Convolution3D::convolve</a></div><div class="ttdeci">void convolve(PointCloudOut &amp;output)</div><div class="ttdef"><b>Definition:</b> convolution_3d.hpp:226</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution3_d_html_ac63c49229165630deed411a0786f7205"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution3_d.html#ac63c49229165630deed411a0786f7205">pcl::filters::Convolution3D::Convolution3D</a></div><div class="ttdeci">Convolution3D()</div><div class="ttdoc">Constructor</div><div class="ttdef"><b>Definition:</b> convolution_3d.hpp:171</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution3_d_html_acd2fdca5f5449054ce26ffa11826d1c3"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution3_d.html#acd2fdca5f5449054ce26ffa11826d1c3">pcl::filters::Convolution3D::getSearchSurface</a></div><div class="ttdeci">PointCloudInConstPtr getSearchSurface()</div><div class="ttdoc">Get a pointer to the surface point cloud dataset.</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:240</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution3_d_html_af6d4781ad87511407d6148345004196a"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution3_d.html#af6d4781ad87511407d6148345004196a">pcl::filters::Convolution3D::search_radius_</a></div><div class="ttdeci">double search_radius_</div><div class="ttdoc">The nearest neighbors search radius for each point.</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:279</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolving_kernel_html"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolving_kernel.html">pcl::filters::ConvolvingKernel</a></div><div class="ttdoc">Class ConvolvingKernel base class for all convolving kernels</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolving_kernel_html_a2ec940a77e2ad1a5b01c35efe9ae8b65"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolving_kernel.html#a2ec940a77e2ad1a5b01c35efe9ae8b65">pcl::filters::ConvolvingKernel::ConvolvingKernel</a></div><div class="ttdeci">ConvolvingKernel()</div><div class="ttdoc">empty constructor</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:64</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolving_kernel_html_a389aa513bcc61bd67e027323f2c6b2d2"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolving_kernel.html#a389aa513bcc61bd67e027323f2c6b2d2">pcl::filters::ConvolvingKernel::~ConvolvingKernel</a></div><div class="ttdeci">virtual ~ConvolvingKernel()</div><div class="ttdoc">empty destructor</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:67</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolving_kernel_html_a516ff8cb112028510557398fb8152b2e"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolving_kernel.html#a516ff8cb112028510557398fb8152b2e">pcl::filters::ConvolvingKernel::makeInfinite</a></div><div class="ttdeci">static void makeInfinite(PointOutT &amp;p)</div><div class="ttdoc">Utility function that annihilates a point making it fail the pcl::isFinite test</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:100</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolving_kernel_html_a6acda103f7848d4598d91ecb3f07d223"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolving_kernel.html#a6acda103f7848d4598d91ecb3f07d223">pcl::filters::ConvolvingKernel::input_</a></div><div class="ttdeci">PointCloudInConstPtr input_</div><div class="ttdoc">source cloud</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:107</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolving_kernel_html_a828fcf6fd3bea41999384e901a170846"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolving_kernel.html#a828fcf6fd3bea41999384e901a170846">pcl::filters::ConvolvingKernel::operator()</a></div><div class="ttdeci">virtual PointOutT operator()(const std::vector&lt; int &gt; &amp;indices, const std::vector&lt; float &gt; &amp;distances)=0</div><div class="ttdoc">Convolve point at the center of this local information</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolving_kernel_html_acd1dc3374677d5fabd8526b2339b6789"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolving_kernel.html#acd1dc3374677d5fabd8526b2339b6789">pcl::filters::ConvolvingKernel::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PointCloudInConstPtr &amp;input)</div><div class="ttdoc">Set input cloud</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:73</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolving_kernel_html_afa5c5d68d246b9da0f3fda2a0286e98a"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolving_kernel.html#afa5c5d68d246b9da0f3fda2a0286e98a">pcl::filters::ConvolvingKernel::initCompute</a></div><div class="ttdeci">virtual bool initCompute()</div><div class="ttdoc">Must call this methode before doing any computation</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:94</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_gaussian_kernel_html"><div class="ttname"><a href="classpcl_1_1filters_1_1_gaussian_kernel.html">pcl::filters::GaussianKernel</a></div><div class="ttdoc">Gaussian kernel implementation interface Use this as implementation reference</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:116</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_gaussian_kernel_html_a2550b6e480710552d543d118ee19c0ff"><div class="ttname"><a href="classpcl_1_1filters_1_1_gaussian_kernel.html#a2550b6e480710552d543d118ee19c0ff">pcl::filters::GaussianKernel::operator()</a></div><div class="ttdeci">virtual PointOutT operator()(const std::vector&lt; int &gt; &amp;indices, const std::vector&lt; float &gt; &amp;distances)</div><div class="ttdoc">Convolve point at the center of this local information</div><div class="ttdef"><b>Definition:</b> convolution_3d.hpp:101</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_gaussian_kernel_html_a4eb5a6aa4a7163ed5123aefa9c4dc70a"><div class="ttname"><a href="classpcl_1_1filters_1_1_gaussian_kernel.html#a4eb5a6aa4a7163ed5123aefa9c4dc70a">pcl::filters::GaussianKernel::setThresholdRelativeToSigma</a></div><div class="ttdeci">void setThresholdRelativeToSigma(float sigma_coefficient)</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:144</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_gaussian_kernel_html_aacd36fb3e27286535f9940dd8a7ffc09"><div class="ttname"><a href="classpcl_1_1filters_1_1_gaussian_kernel.html#aacd36fb3e27286535f9940dd8a7ffc09">pcl::filters::GaussianKernel::setSigma</a></div><div class="ttdeci">void setSigma(float sigma)</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:138</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_gaussian_kernel_html_abc1ef2229ba7f711cf62c82753bf22c1"><div class="ttname"><a href="classpcl_1_1filters_1_1_gaussian_kernel.html#abc1ef2229ba7f711cf62c82753bf22c1">pcl::filters::GaussianKernel::initCompute</a></div><div class="ttdeci">bool initCompute()</div><div class="ttdef"><b>Definition:</b> convolution_3d.hpp:76</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_gaussian_kernel_html_ad01e1dfc0d7003dbb7edb606212e9e4e"><div class="ttname"><a href="classpcl_1_1filters_1_1_gaussian_kernel.html#ad01e1dfc0d7003dbb7edb606212e9e4e">pcl::filters::GaussianKernel::GaussianKernel</a></div><div class="ttdeci">GaussianKernel()</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:126</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_gaussian_kernel_html_af124f4e8a0374b54b2a102fbbda081ca"><div class="ttname"><a href="classpcl_1_1filters_1_1_gaussian_kernel.html#af124f4e8a0374b54b2a102fbbda081ca">pcl::filters::GaussianKernel::setThreshold</a></div><div class="ttdeci">void setThreshold(float threshold)</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:151</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_gaussian_kernel_r_g_b_html"><div class="ttname"><a href="classpcl_1_1filters_1_1_gaussian_kernel_r_g_b.html">pcl::filters::GaussianKernelRGB</a></div><div class="ttdoc">Gaussian kernel implementation interface with RGB channel handling Use this as implementation referen...</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:172</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_gaussian_kernel_r_g_b_html_a61adc4ffc4cf5fd82cb7d170b4989a14"><div class="ttname"><a href="classpcl_1_1filters_1_1_gaussian_kernel_r_g_b.html#a61adc4ffc4cf5fd82cb7d170b4989a14">pcl::filters::GaussianKernelRGB::GaussianKernelRGB</a></div><div class="ttdeci">GaussianKernelRGB()</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:184</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_gaussian_kernel_r_g_b_html_ab9fce61230a93073edc8b29320d33105"><div class="ttname"><a href="classpcl_1_1filters_1_1_gaussian_kernel_r_g_b.html#ab9fce61230a93073edc8b29320d33105">pcl::filters::GaussianKernelRGB::operator()</a></div><div class="ttdeci">PointOutT operator()(const std::vector&lt; int &gt; &amp;indices, const std::vector&lt; float &gt; &amp;distances)</div><div class="ttdoc">Convolve point at the center of this local information</div><div class="ttdef"><b>Definition:</b> convolution_3d.hpp:130</div></div>
<div class="ttc" id="aclasspcl_1_1kernel_html"><div class="ttname"><a href="classpcl_1_1kernel.html">pcl::kernel</a></div><div class="ttdef"><b>Definition:</b> kernel.h:46</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html">pcl::search::Search&lt; PointIn &gt;</a></div></div>
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